How To Flip Collision Meshes in Isaac Gym

Autonomous Machines Robotics - Isaac Isaac Gym
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I have the following urdf structure for my robot where the visual and collision tags share the same dae files.

  <link name="Leg1">
    <visual>
      <origin xyz="0 0 -0.69" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="package://../meshes/RobotName/Leg_Mesh.dae" scale="1 1 1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 -0.69" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="package://../meshes/RobotName/Leg_Mesh.dae" scale="1 1 1" />
      </geometry>
    </collision>
    <inertial>
      <mass value="10" />
      <origin xyz="-0.1 -0.04 0.07" rpy="0 -0 0"/>
      <inertia ixx="0.01" ixy="0.22" ixz="0.05" iyy="0.09" iyz="-0.5" izz="0.9"/>
    </inertial>
  </link>

When I run the simulation with asset_options.flip_visual_attachments = False I get the following results

bot_collision_
bot_collision_1280×833 90.1 KB

bot_visual
bot_visual1280×833 92.2 KB

When I run the simulation with asset_options.flip_visual_attachments = True I get the following results

bot_flip_visual_collision
bot_flip_visual_collision1280×833 94.8 KB

bot_flip_visual_visual
bot_flip_visual_visual1280×833 83.8 KB

Since the same dae files are used for visual and collision tags and flipping the visual mesh seems to work. The collision meshes will also probably get fixed if I can flip them. Any help/suggestions in doing this would be greatly appreciated. I tried to manually flip them using Meshlabs but wasn’t very successful.

1 Like
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Solved it by editing the dae files and changing <up_axis>Z_UP</up_axis> to <up_axis>Y_UP</up_axis>.

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